基于永磁吸附的船体维护爬壁机器人设计  

Design of Hull Maintenance Wall Climbing Robot Based on Permanent Magnet Adsorption

作　　者：楼飞 王湘鹤 张翼旺 王为民 张佳怡 Lou fei;Wang Xianghe;Zhang Yiwang;Wang Weimin;Zhang Jiayi(School of Engineering,Nanjing Normal University Zhongbei College,Zhenjiang,Jiangsu 212300,China)

机构地区：[1]南京师范大学中北学院工学院,江苏镇江212300

出　　处：《机电工程技术》2024年第5期113-117,132,共6页Mechanical & Electrical Engineering Technology

基　　金：南京师范大学中北学院大学生创新创业项目(2022YJ86011)。

摘　　要：为了研制可适应大曲率工作环境且效率较高的爬壁机器人,代替人工对船体进行除锈抛光等工作,对一种用于船体维护的爬壁机器人开展了设计与研究。首先,对爬壁机器人的机械结构开展详细设计,该机器人主要由底盘、打磨头和可变形履带组成,并结合设计结果对其功能原理进行阐述;然后,对吸附单元的关键部件和整体框架结构开展了静力学和倾覆力验证计算;最后,利用COMSOL有限元分析软件中的AC/DC模块进行变形履带的磁吸附力分析,求得满足机器人安全工作的吸附条件,确定了以钕铁棚磁铁N35为吸附材料的可行性,并明确了用于隔振抗磨损的磁铁垫片最大厚度为3 mm时,一个磁体吸附单元最大可达34.2 N。研究结果为同类产品的开发提供了参考。In order to develop a wall-climbing robot that can adapt to a large curvature working environment and has high efficiency,instead of manually derusting and polishing the hull,a wall-climbing robot for hull maintenance is designed and studied.Firstly,the detailed design of the mechanical structure of the wall-climbing robot,which is mainly composed of chassis,grinding head and deformable track,and the functional principle is explained based on the design results.Then,the key components of the adsorption unit and the overall frame structure are verified and calculated by static mechanics and overturning force.Finally,the AC/DC module in the COMSOL finite element analysis software is used to analyze the magnetic adsorption force of the deformed crawler,and the adsorption conditions that meet the safe work of the robot are obtained,the feasibility of using NdFe shed magnet N35 as the adsorption material is determined,and it is clarified that when the maximum thickness of the magnet gasket for vibration isolation and anti-wear is 3 mm,the maximum thickness of a magnet adsorption unit can reach 34.2 N.The research results provide a reference for the development of similar products.

关 键 词：爬壁机器人 船舶除锈 磁吸附单元 永磁式履带 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]